新增独立RTK与IMU外参标定流程及质量验证

2026-08-21 10:04:41 +08:00
parent 1233f8aafd
commit c2da6dd192
38 changed files with 3937 additions and 17 deletions
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+"""Run the independent RTK--IMU calibration against the project inventory."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+if str(ROOT) not in sys.path:
+    sys.path.insert(0, str(ROOT))
+
+from imu_lidar.rtk_imu_replay import load_inventory, load_sessions, run_calibration
+
+
+def main(argv: list[str] | None = None) -> int:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument(
+        "--inventory",
+        type=Path,
+        default=ROOT / "artifacts" / "rtk_imu_inventory_v1" / "rtk_session_inventory.csv",
+    )
+    parser.add_argument(
+        "--output-dir",
+        type=Path,
+        default=ROOT / "artifacts" / "rtk_imu_calibration_v1",
+    )
+    parser.add_argument("--session", action="append", help="session id to include; repeatable")
+    parser.add_argument("--batch", action="append", help="batch id to include; repeatable")
+    parser.add_argument("--rotation-only", action="store_true")
+    parser.add_argument("--no-loo", action="store_true")
+    parser.add_argument("--knot-step-s", type=float, default=2.0)
+    parser.add_argument("--per-batch", action="store_true")
+    parser.add_argument("--rtk-frame-definition", default='')
+    parser.add_argument("--rtk-reference-point", default='')
+    args = parser.parse_args(argv)
+
+    entries = load_inventory(args.inventory)
+    if args.session:
+        selected = set(args.session)
+        entries = [entry for entry in entries if entry.session_id in selected]
+    if args.batch:
+        selected_batches = set(args.batch)
+        entries = [entry for entry in entries if entry.batch_id in selected_batches]
+    if not entries:
+        raise SystemExit("no inventory rows match the requested selection")
+    sessions = load_sessions(entries)
+    rotation, translation = run_calibration(
+        sessions,
+        args.output_dir,
+        rotation_only=args.rotation_only,
+        compute_loo=not args.no_loo,
+        knot_step_s=args.knot_step_s,
+        rtk_frame_definition=args.rtk_frame_definition,
+        rtk_reference_point=args.rtk_reference_point,
+    )
+    print(
+        json.dumps(
+            {
+                "output": str(args.output_dir.resolve()),
+                "sessions": [session.session_id for session in sessions],
+                "rotation_ok": rotation.ok,
+                "rotation_rpy_deg": rotation.rpy_deg.tolist(),
+                "rotation_rms_deg": rotation.residual_rms_deg,
+                "translation_ok": None if translation is None else translation.ok,
+                "translation_m": None if translation is None else translation.t_RTK_IMU_m.tolist(),
+            },
+            ensure_ascii=False,
+            indent=2,
+        )
+    )
+
+    if args.per_batch:
+        for batch in sorted({entry.batch_id for entry in entries}):
+            batch_entries = [entry for entry in entries if entry.batch_id == batch]
+            if len(batch_entries) < 2:
+                continue
+            run_calibration(
+                load_sessions(batch_entries),
+                args.output_dir / "per_batch" / batch,
+                rotation_only=args.rotation_only,
+                compute_loo=False,
+                knot_step_s=args.knot_step_s,
+                rtk_frame_definition=args.rtk_frame_definition,
+                rtk_reference_point=args.rtk_reference_point,
+            )
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())